added qt gui with changeable parameters
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@ -5,6 +5,7 @@ import os
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import time
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import math
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from pyqtgraph.Qt import QtCore, QtGui
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from pyqtgraph.parametertree import Parameter, ParameterTree
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import pyqtgraph as pg
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@ -13,54 +14,105 @@ from queue import Queue
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import aruco
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class FPSCounter:
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def __init__(self):
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self.fps_start_time = time.time()
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self.fps_counter = 0
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self.fps_display_rate = 1.0
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def get_fps(self):
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self.fps_counter += 1
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delta_t = time.time() - self.fps_start_time
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if delta_t > self.fps_display_rate:
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self.fps_counter = 0
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self.fps_start_time = time.time()
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return self.fps_counter / delta_t
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class ArucoEstimator:
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corner_marker_ids = {
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'a': 0,
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'b': 1,
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'c': 2,
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'd': 3
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}
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corner_estimates = {
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'a': {'pixel_coordinate': None, 'x': None, 'y': None, 'n_estimates': 0},
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'b': {'pixel_coordinate': None, 'x': None, 'y': None, 'n_estimates': 0},
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'c': {'pixel_coordinate': None, 'x': None, 'y': None, 'n_estimates': 0},
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'd': {'pixel_coordinate': None, 'x': None, 'y': None, 'n_estimates': 0},
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}
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def __init__(self, robot_marker_ids=None, use_realsense=True, grid_columns=12, grid_rows=12):
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self.app = QtGui.QApplication([])
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## Create window with GraphicsView widget
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self.win = pg.GraphicsLayoutWidget()
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self.win = QtGui.QWidget()
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self.layout = QtGui.QGridLayout()
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self.win.setLayout(self.layout)
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self.win.keyPressEvent = self.handleKeyPressEvent
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self.win.show() ## show widget alone in its own window
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self.win.setWindowTitle('ArucoEstimator')
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self.view = self.win.addViewBox()
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self.plotwidget = pg.PlotWidget()
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self.layout.addWidget(self.plotwidget)
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## lock the aspect ratio so pixels are always square
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self.view.setAspectLocked(True)
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self.plotwidget.setAspectLocked(True)
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self.plotwidget.getPlotItem().getAxis('left').hide()
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self.plotwidget.getPlotItem().getAxis('bottom').hide()
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## Create image item
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self.img = pg.ImageItem(border='w')
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self.img.setLevels([[0, 255], [0, 255], [0, 255]])
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self.img.mouseClickEvent = self.handleMouseEvent
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self.view.addItem(self.img)
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self.plotwidget.addItem(self.img)
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self.grid_columns = grid_columns
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self.grid_rows = grid_rows
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# fps display
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self.fps_counter = FPSCounter()
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self.fps_overlay = pg.TextItem('fps = 0', color=(255, 255, 0), anchor=(0,1))
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self.plotwidget.addItem(self.fps_overlay)
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self.invert_grayscale = False
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self.draw_grid = False
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self.draw_markers = True
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self.draw_marker_coordinate_system = False
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self.corner_marker_size = 0.075
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self.corner_marker_ids = {
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'a': 0,
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'b': 1,
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'c': 2,
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'd': 3
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}
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self.corner_estimates = {
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'a': {'pixel_coordinate': None, 'x': None, 'y': None, 'n_estimates': 0},
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'b': {'pixel_coordinate': None, 'x': None, 'y': None, 'n_estimates': 0},
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'c': {'pixel_coordinate': None, 'x': None, 'y': None, 'n_estimates': 0},
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'd': {'pixel_coordinate': None, 'x': None, 'y': None, 'n_estimates': 0},
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}
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self.robot_marker_size = 0.07
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if robot_marker_ids is None:
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robot_marker_ids = []
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self.robot_marker_ids = robot_marker_ids
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self.robot_marker_estimates = dict([(marker_id, {'t': None, 'x': None, 'y': None, 'angle': None})
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for marker_id in self.robot_marker_ids])
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self.draw_grid = False
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self.fps_start_time = time.time()
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self.fps_counter = 0
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# parameter
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params_spec = [
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{'name': 'Corner marker size', 'type': 'float', 'value': self.corner_marker_size, 'siPrefix': True,
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'suffix': 'm', 'limits': (0.01, 1), 'step': 0.001},
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{'name': 'Robot marker size', 'type': 'float', 'value': self.robot_marker_size, 'siPrefix': True,
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'suffix': 'm', 'limits': (0.01, 1), 'step': 0.001},
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{'name': 'Draw markers', 'type': 'bool', 'value': self.draw_markers},
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{'name': 'Draw marker coordinate system', 'type': 'bool', 'value': self.draw_marker_coordinate_system},
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{'name': 'Invert grayscale', 'type': 'bool', 'value': self.invert_grayscale, 'tip': "Invert grayscale image before marker detection"},
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{'name': 'Show FPS', 'type': 'bool', 'value': True, 'tip': "Display frames per second counter"},
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{'name': 'Draw grid', 'type': 'bool', 'value': self.draw_grid, 'tip': "Draw grid spanned by the markers 0 - 3"},
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{'name': 'Display mode', 'type': 'list', 'values': ['color', 'grayscale'], 'value': 'color', 'tip': "Display mode for the video"}
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]
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self.params = Parameter.create(name='params', type='group', children=params_spec)
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self.params.param('Invert grayscale').sigValueChanged.connect(lambda _, v: self.__setattr__('invert_grayscale', v))
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self.params.param('Draw markers').sigValueChanged.connect(lambda _, v: self.__setattr__('draw_markers', v))
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self.params.param('Draw marker coordinate system').sigValueChanged.connect(lambda _, v: self.__setattr__('draw_marker_coordinate_system', v))
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self.params.param('Draw grid').sigValueChanged.connect(lambda _, v: self.__setattr__('draw_grid', v))
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self.params.param('Corner marker size').sigValueChanged.connect(lambda _, v: self.__setattr__('corner_marker_size', v))
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self.params.param('Robot marker size').sigValueChanged.connect(lambda _, v: self.__setattr__('robot_marker_size', v))
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self.params.param('Show FPS').sigValueChanged.connect(lambda _, v: self.fps_overlay.show() if v else self.fps_overlay.hide())
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self.paramtree = ParameterTree()
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self.paramtree.setParameters(self.params, showTop=False)
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self.layout.addWidget(self.paramtree)
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self.win.show() ## show widget alone in its own window
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self.grid_columns = grid_columns
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self.grid_rows = grid_rows
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self.event_queue = Queue()
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@ -113,7 +165,6 @@ class ArucoEstimator:
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self.drag_line_end = None
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self.drag_line_start = None
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self.previous_click = None
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self.invert_grayscale = False
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def compute_clicked_position(self, px, py):
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if self.all_corners_detected():
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@ -176,15 +227,10 @@ class ArucoEstimator:
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self.drag_line_end = (px, py)
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def process_frame(self):
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draw_markers=True
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draw_marker_coordinate_system=False
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#cv2.setMouseCallback('RoboRally', self.mouse_callback)
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fps_display_rate = 1 # displays the frame rate every 1 second
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if self.pipeline:
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frames = self.pipeline.wait_for_frames()
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color_frame = frames.get_color_frame()
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# if not color_frame:
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# continue
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# Convert images to numpy arrays
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color_image = np.asanyarray(color_frame.get_data())
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else:
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@ -206,16 +252,16 @@ class ArucoEstimator:
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detected_marker_data[marker.id] = {'marker_center': marker.getCenter()}
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if marker.id in self.corner_marker_ids.values():
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marker.calculateExtrinsics(0.075, self.camparam)
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marker.calculateExtrinsics(self.corner_marker_size, self.camparam)
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else:
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marker.calculateExtrinsics(0.07, self.camparam)
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marker.calculateExtrinsics(self.robot_marker_size, self.camparam)
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detected_marker_data[marker.id]['Rvec'] = marker.Rvec
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detected_marker_data[marker.id]['Tvec'] = marker.Tvec
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if draw_markers:
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if self.draw_markers:
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marker.draw(color_image, np.array([255, 255, 255]), 2, True)
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if draw_marker_coordinate_system:
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if self.draw_marker_coordinate_system:
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aruco.CvDrawingUtils.draw3dAxis(color_image, self.camparam, marker.Rvec, marker.Tvec, .1)
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# store data
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@ -232,27 +278,22 @@ class ArucoEstimator:
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color_image = cv2.line(color_image, self.drag_line_start, self.drag_line_end, color=(0, 0, 255), thickness=2)
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# compute frame rate
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self.fps_counter += 1
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delta_t = time.time() - self.fps_start_time
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if delta_t > fps_display_rate:
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self.fps_counter = 0
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self.fps_start_time = time.time()
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color_image = cv2.putText(color_image, f"fps = {(self.fps_counter / delta_t):.2f}", (10, 25), cv2.FONT_HERSHEY_PLAIN, 2,
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(0, 255, 255),
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thickness=2)
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self.fps_overlay.setText(f"fps = {self.fps_counter.get_fps():.1f}")
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# Show images
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color_image_rgb = cv2.cvtColor(color_image, cv2.COLOR_BGR2RGB) # convert to RGB
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self.img.setImage(np.transpose(np.flipud(color_image_rgb), axes=(1, 0, 2)))
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display_mode = self.params.param('Display mode').value()
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if display_mode == 'color':
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self.img.setImage(np.transpose(np.flipud(color_image_rgb), axes=(1, 0, 2)))
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elif display_mode == 'grayscale':
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self.img.setImage(np.transpose(np.flipud(gray)))
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QtCore.QTimer.singleShot(1, self.process_frame)
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def handleKeyPressEvent(self, ev):
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key = ev.key()
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self.event_queue.put(('key', key))
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if key == QtCore.Qt.Key_G:
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self.draw_grid = not self.draw_grid
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elif key == QtCore.Qt.Key_Q:
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if key == QtCore.Qt.Key_Q:
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if self.pipeline is not None:
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# Stop streaming
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self.pipeline.stop()
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@ -268,6 +309,7 @@ class ArucoEstimator:
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print("auto exposure ON")
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elif key == QtCore.Qt.Key_I:
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self.invert_grayscale = not self.invert_grayscale
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def update_estimate(self, marker_id, pixel_coord_center, rvec, tvec, t_image):
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# update the marker estimate with new data
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if marker_id in self.corner_marker_ids.values():
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@ -465,5 +507,3 @@ if __name__ == "__main__":
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if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'):
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QtGui.QApplication.instance().exec_()
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#estimator.run_tracking(draw_markers=True, invert_grayscale=True)
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